The application of multi-body simulation approach in the kinematic analysis of beetle leg joints

Three-dimensional kinematics of leaf-cutter ant mandibles: not all dicondylic joints are simple hinges

Insects use their mandibles for a variety of tasks, including food processing, material transport, nest building, brood care, and fighting. Despite this functional diversity, mandible motion is typically thought to be constrained to rotation about a single fixed axis. Here, we conduct a direct quantitative test of this 'hinge joint hypothesis' in a species that uses its mandibles for a wide range of tasks: Atta vollenweideri leaf-cutter ants. Mandible movements from live restrained ants were reconstructed in three dimensions using a multi-camera rig. Rigid body kinematic analyses revealed strong evidence that mandible movement occupies a kinematic space that requires more than one rotational degree of freedom: at large opening angles, mandible motion is dominated by yaw. But at small opening angles, mandibles both yaw and pitch. The combination of yaw and pitch allows mandibles to 'criss-cross': either mandible can be on top when mandibles are closed. We observed criss-crossing in freely cutting ants, suggesting that it is functionally important. Combined with recent reports on the diversity of joint articulations in other insects, our results show that insect mandible kinematics are more diverse than traditionally assumed, and thus worthy of further detailed investigation. This article is part of the theme issue 'Food processing and nutritional assimilation in animals'.

Kinematics of whip spider pedipalps: a 3D comparative morpho-functional approach

Amblypygi are tropical and subtropical ambush predators that use elongated, raptorial pedipalps for different activities. Although pedipalp use in predation and courtship has been explored in videography in vivo analyses, kinematic ex vivo examination of these appendages has not been conducted. Here, we rectify this lack of data by using micro-CT scans to 3D-kinematically model the appendage morphology and the range of motion (ROM) of the joints for Damon medius and Heterophrynus elaphus. We illustrate the successful application of this technique to terrestrial euarthropods in determining the maximum ROM values for each pedipalp joint. We also note that, in life, these values would be lower due to motion restricting structures like tendons, arthrodial membranes, and muscles. We further compare our maximum values obtained here with data from video-based motion analyses. The ROM of each joint shows the greatest flexibility in the femur-tibia joint (140-150°), the lowest in the basitarsus-claw joint (35-40°). ROM in the tibia-basitarsus joint is markedly distinct (D. medius: 44°; H. elaphus: 105°). This disparity reflects how H. elaphus uses the joint in the capture basket, while D. medius uses the femur-tibia joint to form the capture basket. We further illustrate notable vertical motion of the H. elaphus pedipalp compared to D. medius. This difference reflects the retro-ventral trochanter apophysis of H. elaphus. Our study opens the possibility to further whip spider kinematic understanding. Examination of other taxa using this approach will result in a more comprehensive understanding of the ecological significance and ethological implications of this unique arachnid group.

Kinematics and morphology: A comparison of 3D-patterns in the fifth pereiopod of swimming and non-swimming crab species (Malacostraca, Decapoda, Brachyura)

Swimming crabs of the taxon Portunoidea show specialized, paddle-shaped fifth pereiopods (P5), which play a role in these crabs' ability to swim. In this study, the morphology of the fifth pereiopod in swimming and non-swimming crabs was studied in detail and the mobility in the articulations between podomeres was calculated from reconstructed three-dimensional (3D)-models. This way, we aimed to provide new estimates of kinematic parameters, and to answer the question on a possible homology of the P5 within several portunoid clades. We measured and compared podomere length ratios, orientations of the joint axes, and modeled single range of motion (sROM) of each joint as well as the total range of motion (tROM) of all joints of the P5 as a whole. Seven Portunoidea species, four of them belonging to the P5-swimming crab morphotype (Liocarcinus depurator, Polybius henslowii, Callinectes sapidus, Portunus pelagicus) and three not belonging to this morphotype (Carcinus aestuarii, Portumnus latipes, and with uncertain status Carupa tenuipes) were compared with the non-portunoids Sternodromia monodi, Ranina ranina, Raninoides bouvieri, Eriocheir sinensis, Varuna litterata, Ashtoret lunaris, and Cancer pagurus. The study was carried out using a combination of microcomputer tomography (μCT)-techniques and 3D-reconstructions. The μCT-data were used to create surface models of the P5 in Amira, which were then 3D-animated and manipulated in Maya to qualitatively compare modeled kinematic parameters. Results show that the merus and carpus in swimming crabs are shorter than in non-swimming crabs, while sROM angles are generally larger. The tROM of all joints expressed as Euclidean distances is generally higher in the portunoids (except for Carcinus). Our comparison of the complete trajectory of the dactylus tip regarding all maximum joint positions of the studied species suggests that the P5-swimming leg might have evolved once in the Portunoidea and got lost afterward in certain clades.

Structure and Frictional Properties of the Leg Joint of the Beetle Pachnoda marginata (Scarabaeidae, Cetoniinae) as an Inspiration for Technical Joints

The efficient locomotion of insects is not only inspiring for control algorithms but also promises innovations for the reduction of friction in joints. After previous analysis of the leg kinematics and the topological characterization of the contacting joint surfaces in the beetle Pachnoda marginata, in the present paper, we report on the measurement of the coefficient of friction within the leg joints exhibiting an anisotropic frictional behavior in different sliding directions. In addition, the simulation of the mechanical behavior of a single microstructural element helped us to understand the interactions between the contact parts of this tribological system. These findings were partly transferred to a technical contact pair which is typical for such an application as joint connectors in the automotive field. This innovation helped to reduce the coefficient of friction under dry sliding conditions up to 17%.

Friction reduction mechanism of the cuticle surface in the sandhopper talitrus saltator (Amphipoda, talitridae)

In many cases, strong friction reduction is critical for success of both living organisms and engineering systems. Some arthropods exhibit good antifriction abilities in their specific living environments and have inspired many innovations for solving industry challenges. However, the current literature mainly focused on terrestrial insects, such as beetles, grasshoppers and katydids. The antifriction mechanisms in amphibious arthropods are still unknown, even if their surfaces are optimized for both air and water environments. Herein the tribological properties of the cuticle surface of the sandhopper Talitrus saltator were studied using a universal microtribometer. Further investigations were developed to identify the microstructural, compositional, wettability, and mechanical properties of the sandhopper shell cuticles. It was found that increasing normal force can significantly reduce the coefficient of friction of the shell cuticle, especially for the alive and rewet sandhopper shells. The shell consists of bottle-like nano-caves in its exocuticle, nano-tubes in its mesocuticle, and gauze-like multilayers in its endocuticle. Under physiological conditions, glycoprotein-like fluid fillings exist in both the bottle-like caves and the nano-tubes below and cover on the shell surface. More importantly, a new antifriction mechanism of lubricant-squeezing nano-porous system was established for the sandhopper shell. This work can deepen our understanding in antifriction surfaces of amphibiotic crustaceans, and provide a potential approach to resolve the friction challenge in micro-machines, especially for the applications under aqueous condition. STATEMENT OF SIGNIFICANCE: Friction regulation is one of the critical mechanisms for animal locomotion in natural environments. However, not much is known about the mechanism of amphibious arthropods to reduce friction between their body and diverse environments, particularly achieving adaption under both air and aqueous conditions. We quantitatively study the microstructural, compositional and mechanical properties of the sandhopper (Talitrus saltator) shell cuticle and tribological behaviors under different conditions. Our results reveal the nano-porous system with fluid fillings for the sandhopper's shell and demonstrate the potential antifriction mechanism of this amphibious animal. We anticipate this work will inspire some effective antifriction designs for micro-machines, especially for their applications in complex environment like human body.

The Topology of the Leg Joints of the Beetle Pachnoda marginata (Scarabaeidae, Cetoniinae) and Its Implication for the Tribological Properties

Locomotion of walking insects is exceptionally efficient. The function of their leg joints in different movement scenarios depends on their kinematics and contacting conditions between moving parts. The kinematics was previously studied in some insects, but contact mechanics within the joints remains largely unknown. In order to understand the complex topology of the contacting surfaces of the leg joints in the Congo rose beetle Pachnoda marginata peregrina (Scarabaeidae, Cetoniinae), we have investigated the shape, the waviness, and the roughness of the joint base and its counter body by applying confocal laser scanning microscopy and white light interferometry. Additionally, we performed nanoindentation tests on the contacting joint surfaces, in order to analyze material properties (elasticity modulus and hardness) of the joint cuticle. We found two topological design principles of the contact surfaces that might be considered as adaptations for reducing frictional drag during leg movements. First, the contact pairs of all leg joints studied consist of convex and concave counterparts. Second, there is a smooth and a rough surface in contact in which microprotuberances are present on the rough surface. These principles might be potentially interesting for technical implications, to design bioinspired joints with both reduced friction and wear rate.